MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Introduction

Viewpoints of analyzing control

system behavior

Routh-Hurwitz (s = + j )
Root locus (s = + j )
Bode diagram (plots) (s = j )
Nyquist plots (s = j )
Nicols plots (s = j )
Time domain

Frequency Response

Frequency Response
r(t) =A sin !t + B cos !t
p
= A2 + B 2 cos[!t + tan

(B/A)]

As + B!
C(s) = 2
G(s)
s + !2

Steady State
Response

Frequency Response

Mo \

= (Mi \ i )(MG \

MG \

= G(j!)

G)

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Bode Plot

Advantages of Bode plot

-
-
-
-

Dynamic compensator design can be entirely

in Bode plots
Bode plots can be determined experimentally
Bode plots in series simply add, which is
quite simple for design purpose
The use of log-scale permits a much wider
range of frequencies to be displayed in a
single plot than is possible with linear scale

Logarithmic coordinate
Decade :

dec = log10

2
1

Octave :

oct = log 2

2
1

dB

3 4

10

20

100

Y (s)
K(s + z1 )(s + z2 )!
=
R(s) (s + p1 )(s + p2 )(s 2 + as + b)!
Case I : K

GH (dB )

Magnitude:
0.1

10

K dB = 20 log K (dB)
GH

Phase:

"$
0o , K > 0
K = #
o
$% 180 , K < 0

1800
90 0

1
sp

Case II :

Magnitude:

1
( j ) p

0.1

dB

1
( j ) p

p=2

p =1

= 20 p log (dB )

10

GH

Phase:

GH (dB )

= (90 o ) p

90 0
90

1800

p =1

p=2

10

sp

Case III :

GH (dB )

Magnitude:

( j ) p

dB

p =1

= 20 p log (dB )
0.1

GH

Phase:

180
p

p=2

( j ) = (90 ) p

90

10

p=2
p =1

90 0
1800
11

Case IV :

a
1
or ( s +1)1
(s + a)
a

a =1

Magnitude:

GH (dB )
1

)
= 20 log 1+ ( )2
a dB
a

= 10 log[1+ ( )2 ]
a
(1+ j

0.1

0 M = 10 log1 = 0dB
a

>> a 1+ j M 20 log dB GH
a a
a
1800
M = [20 log 20 log a]dB

10

<< a

= a 450

90 0

= a M = 10 log 2 = 3.01dB

Phase:

0
1
1 / (1+ j ) = 0 tan
a
a

90 0
1800

<< a 0 GH tan 1 0 = 0 o
a

>> a GH tan 1 = 90 o
a

12

(s + a)
1
or ( s +1)
a
a

Case V :

a =1

Magnitude:

GH (dB )
(1 + j

)
dB

= 20 log 1 + ( ) 2
a

= 10 log[1 + ( ) 2 ]
a

0.1

0 M = 10 log1 = 0dB
a

>> a 1+ j M 20 log dB GH
a a
a
1800
M = [20 log 20 log a]dB

10

<< a

= a M = 10 log 2 = 3.01dB

= a 450

90 0

Phase:

(1 + j

) = tan

90 0

1800

0 GH tan 1 0 = 0 o
a

>> a GH tan 1 = 90 o
a

<< a

13

14

 n2
T (s) = 2
s + 2 n s + n2

Case VI :

T ( j ) =

T ( j ) =

"
$
$
$
$$
T ( j ) = #
$
$
$
$
$%

n2
2

( n 2 ) + 2 j n
1

(1 ( ) ) + j 2
n
n
0,

<< 1
n

20 log(2 ),
=1
n

40 log( ),
>> 1
n
n

T ( j ) = tan 1

2 n
2
( n 2 )

n
1
T ( j ) = tan
2
1 ( )
n
2

#
0
0
,
%%
T ( j ) = $ 90 0 ,
%
o
180
,
%&

<< 1
n

=1
n

>> 1
n

15

 = n

16

Bode plots
So

G( jw) = | G( jw) | G( jw)

Magnitude

Phase Angle

Magnitude in dB = 20 log10 | G ( jw) |

Hence Bode Plot consists of two plots

Magnitude ( 20 log10 | G ( jw) | dB) Vs frequency plot (w)
Phase angle ( G ( jw) )Vs frequency plot (w)

Bode plots
G( jw) =

K 1(1+ jwT1 )(1+ jwT2 )...(1+ jwTm )

2+
')
!
$
)
jw
jw
N
( jw) (1+ jwTa )(1+ jwTb ) ... (1+ jwTn ) (1+ 2 + # & ,
wn " wn % ))*

Magnitude in dB
20 log10 | G( jw) |= 20 log10 | K | + 20 log10 | 1 + jwT1 | +20 log10 | 1 + jwT2 | ... + 20 log10 |1+ jwTm |

20 log10 |1+ jwTa | 20 log10 |1+ jwTb |... 20 log10 |1+ jwTm | etc

Phase Angle
G( jw) = ( K ) + (1 + jwT1 ) + (1 + jwT2 )... + (1 + jwTn )
(1 + jwTa ) (1 + jwTb )... (1 + jwTm ) etc
= tan 1 ( jwT1 ) + tan 1 ( jwT2 )... + tan 1 ( jwTm )
90 N tan 1 ( jwTa ) tan 1 ( jwTb )... tan 1 ( jwTn ) etc

Bode plot procedure

Steps to draw Bode Plot

1. Convert the TF in following standard form & put s=jw
G( jw) =

K 1(1+ jwT1 )(1+ jwT2 )...(1+ jwTm )

2+
')
!
$
)
jw
jw
( jw) N (1+ jwTa )(1+ jwTb ) ... (1+ jwTn ) (1+ 2 + # & ,
wn " wn % ))*

2. Find out corner frequencies by using

1 1 1
1 1 1
,
,
...
,
,
Rad / sec
T1 T2 T3 Ta Tb Tc

etc

3. Draw the magnitude plot. The slope will change at each

corner frequency by +20dB/dec for zero and -20dB/dec for
pole.
v For complex conjugate zero and pole the slope will change
by 40dB / dec

Ex. Bode plot

Solution:

1000
G( s) =
(1 + 0.1s)(1 + 0.001s)

1. Convert the TF in following standard form & put s=jw

1000
G ( jw) =
(1 + 0.1 jw)(1 + 0.001 jw)
2. Find out corner frequencies
1
= 10
0.1

1
= 1000
0.001

So corner frequencies are 10, 1000 rad/sec

Ex.- Contd

Magnitude Plot

Ex.

50(s + 2)
G(s) =
s(s +10)

1
1
G(s) = 10( )(0.5s +1)(
)
s
0.1s +1

Ex.
5(1 + j0.1!)
G(j!) =
j!(1 + j0.5!) 1 + j0.6(!/50) + (j!/50)2

Magnitude asymptotes of poles and zeros used in the example.

Ex.- Contd

Magnitude characterisSc.

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Stability Margin

Bode plot GM & PM

Gain Margin: It is the amount of gain in dB that can be

added to the system before the system become
unstable

GM in dB = 20log10(1/|G(jw|) = -20log10|G(jw|
Gain cross-over frequency: Frequency where magnitude plot
intersect the 0dB line (x-axis) denoted by wg

Phase Margin: It is the amount of phase lag in degree

that can be added to the system before the system
become unstable

PM in degree = 1800+angle[G(jw)]
Phase cross-over frequency: Frequency where phase plot
intersect the 1800 dB line (x-axis) denoted by wp
Less PM => More oscillating system

GM and PM via Bode Plot

The frequency at which the

phase equals 180 degrees is
called the phase crossover
frequency
GM

The frequency at which
the magnitude equals 1
is called the gain
crossover frequency
M

GM

gain crossover frequency

phase crossover frequency

Bode plot GM & PM

Bode plot and stability

1. Stable
If wg<wp => GM & PM are >0

2. Unstable
If wg>wp => GM & PM are <0

3. Marginally stable
If wg=wp => GM & PM are zero

Example
Find Bode Plot and evaluate a value of K
that makes the system stable
The system has a unity feedback
with an open-loop transfer function

K
G(s) =
( s + 2)(s + 4)(s + 5)
First, lets find Bode Plot of G(s) by assuming
that K=40 (the value at which magnitude plot
starts from 0 dB)

At phase = -180, = 7 rad/sec, magnitude = -20 dB

 GM>0, system is stable!!!

Can increase gain up 20 dB without causing
instability (20dB = 10)
Start from K = 40
with K < 400, system is stable

Closed-loop transient and closedloop frequency responses

2nd system

n2
C (s)
= T (s) = 2
R( s )
s + 2 n s + n2

Damping ratio and closed-loop frequency

response

Mp =

1
2 1 2

p = n 1 2 2

Magnitude Plot of closed-loop system

Response speed and closed-loop frequency

response

BW = n (1 2 2 ) + 4 4 4 2 + 2
BW

4
=
Ts

BW =

(1 2 2 ) + 4 4 4 2 + 2

Tp 1 2

(1 2 2 ) + 4 4 4 2 + 2

BW = frequency at which magnitude is 3dB down

from value at dc (0 rad/sec), or M =

1
2

Relationship between
damping ratio and phase margin
of open-loop frequency response
Phase margin of open-loop frequency response
Can be written in terms of damping ratio as following

M = tan

2
2 2 + 1 + 4 4

Example
Open-loop system with a unity feedback has a bode plot
below, approximate settling time and peak time

BW
= 3.7

PM=35

M = tan
Solve for PM = 35

Ts =

2
2 2 + 1 + 4 4

= 0.32

(1 2 2 ) + 4 4 4 2 + 2

BW

= 5. 5
Tp =

BW 1 2

= 1.43

(1 2 2 ) + 4 4 4 2 + 2

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Nyquist Stability Criterion
Introduction

Knowledge Before
Studying Nyquist Criterion

High Gain
(K)

Stability
Margins

Harry Nyquist: Bell Telephone Laboratories (1932)

Knowledge Before
Studying Nyquist Criterion
Open-loop

G( s)
T ( s) =
1 + G( s) H ( s)
CharacterisSc EquaSon

unstable if there is any pole on RHP (right half plane)

N G ( s)
G (s) =
DG ( s )

N H ( s)
H ( s) =
DH ( s)

N G ( s)
G (s) =
DG ( s )

N H ( s)
H ( s) =
DH ( s)

Open-loop system:

N G ( s) N H ( s)
G(s) H (s) =
DG ( s ) DH ( s )

Characteristic equation:
N G N H DG DH + N G N H
1 + G( s) H ( s) = 1 +
=
DG DH
DG DH

poles of G(s)H(s) and 1+G(s)H(s) are the same

Closed-loop system:
N G ( s) DH ( s)
G( s)
T ( s) =
=
1 + G ( s) H ( s) DG ( s) DH ( s) + N G ( s) N H ( s)

zero of 1+G(s)H(s) is pole of T(s)

(s 1)(s 2)
G(s)H (s) =
(s 3)(s 4)

G ( s) H ( s)

1 + G( s) H ( s)

G( s)
1 + G( s) H ( s)

Zero

Zero a,b

Zero ?,?

Poles

Poles

Poles a,b

To know stability, we have to know a and b

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Nyquist Stability Criterion
Introduction

Stability from Nyquist plot

From a Nyquist plot, we can tell a number of

closed-loop poles on the right half plane.
If there is any closed-loop pole on the right half
plane, the system goes unstable.
If there is no closed-loop pole on the right half
plane, the system is stable.

Nyquist Criterion
Nyquist plot is a plot used to verify stability
of the system.
mapping contour

( s z1 )(s z 2 )
function F ( s ) =
( s p1 )(s p2 )
mapping all points (contour) from one plane to another
by function F(s).

( s z1 )(s z 2 )
F (s) =
( s p1 )(s p2 )

 Pole/zero inside the

contour has 360 deg.
angular change.
Pole/zero outside
contour has 0 deg.
angular change.
Move clockwise around
contour, zero inside
yields rotaSon in
clockwise, pole inside
yields rotaSon in
counterclockwise

Characteristic
equation

F ( s) = 1 + G(s) H ( s)

N = P-Z
N = # of counterclockwise direcSon about the origin
P = # of poles of characterisSc equaSon inside contour
= # of poles of open-loop system
z = # of zeros of characterisSc equaSon inside contour
= # of poles of closed-loop system
Z = P-N

Characteristic equation
Increase size of the contour to cover the right
half plane

More convenient to consider the open-loop

system (with known pole/zero)

Nyquist diagram of G(s) H ( s)

Open-loop system

Mapping from characterisSc equ. to open-loop

system by shi_ing to the le_ one step

Z = P-N
Z = # of closed-loop poles inside the right half plane
P = # of open-loop poles inside the right half plane
N = # of counterclockwise revoluSons around -1

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Nyquist Stability Criterion
Properties

Properties of Nyquist plot

If there is a gain, K, in front of open-loop

transfer funcSon, the Nyquist plot will expand
by a factor of K.

Nyquist plot example

Open loop system has pole at 2

1
G( s) =

s2
Closed-loop system has pole at 1
G(s)
1
=

1+ G(s) (s 1)
If we mulSply the open-loop with
a gain, K, then we can move the
closed-loop poles posiSon to the
le_-half plane

Nyquist plot example (cont.)

New look of open-loop system:
K
G( s) =
s2

Corresponding closed-loop system:

G( s)
K
=
1 + G( s) s + ( K 2)

Evaluate value of K for stability

K 2

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Nyquist Stability Criterion
Control Design

Adjusting an open-loop gain to guarantee

stability

Step I: sketch a Nyquist Diagram

Step II: find a range of K that makes the system stable!

How to make a Nyquist plot?

Easy way by Matlab
Nyquist: nyquist
Bode: bode

Step I: make a Nyquist plot

Starts from an open-loop transfer funcSon (set
K=1)
Set s = j and nd frequency response
At dc, = 0 s = 0
Find
at which the imaginary part equals zero

( s + 3)(s + 5) s 2 + 8s + 15
G( s) H (s) =
= 2
( s 2)(s 4) s 6s + 8
2 + 8 j + 15 (15 2 ) + 8 j
G ( j ) H ( j ) =
=
2
6 j + 8
(8 2 ) 6 j
(15 2 ) + 8 j (8 2 ) + 6 j
=

2
(8 ) 6 j (8 2 ) + 6 j
(15 2 )(8 2 ) 48 2 + j (154 14 3 )
=
(8 2 ) 2 + 6 2 2

Need the imaginary term = 0,

= 0, 11

Substitute = 11 back in to the transfer function

And get G(s) = 1.33
(15 11)(8 11) 48(11) 540
=
= 1.31
2
2
(8 11) + 6 (11)
412

At dc, s=0,

At imaginary part=0

Step II: satisfying stability condition

P = 2, N has to be 2 to guarantee stability
Marginally stable if the plot intersects -1
For stability, 1.33K has to be greater than 1
K > 1/1.33
or K > 0.75

Example
Evaluate a range of K that makes the system stable

G( s) =

K
( s 2 + 2s + 2)(s + 2)

Step I: find frequency at which

imaginary part = 0
Set

s = j
G ( j ) =

K
(( j ) 2 + 2 j + 2)( j + 2)

4(1 2 ) j (6 2 )
=
16(1 2 ) 2 + 2 (6 2 ) 2

At = 0, 6

the imaginary part = 0

Plug = 6 back in the transfer function

and get G = -0.05

Step II: consider stability condition

P = 0, N has to be 0 to guarantee stability
Marginally stable if the plot intersects -1
For stability, 0.05K has to be less than 1
K < 1/0.05
or K < 20

MECE-6397:

FEEDBACK CONTROL SYSTEMS

Frequency Response
Nyquist Stability Criterion
Gain Margin and Phase Margin

Gain Margin and Phase Margin

Gain margin is the change in open-loop gain (in dB),
required at 180 of phase shift to make the closed-loop
system unstable.
Phase margin is the change in open-loop phase shift,
required at unity gain to make the closed-loop
system unstable.
GM/PM tells how much system can tolerate
before going unstable!!!

GM and PM via Nyquist plot